At pH<2, all groups will be protonated. Total net charge = ??
At 2<pH<4, the terminal carboxyl will have lost its proton, so total net charge = ??
At 4<pH<10, the next group (terminal amino) will also be unprotonated...
etc.
Just find in which interval the net charge will be zero and calculate the average of the two flanking pKas. That's the pI